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오현동

Oh, Hyondong
Autonomous Systems Lab.
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Information-Driven Autonomous Search and Source Reconstruction Using Cooperative Mobile Sensors

Alternative Title
Information-driven search and source reconstruction using cooperative UAVs
Author(s)
Park, MinkyuOh, Hyondong
Issued Date
2019-01-06
DOI
10.2514/6.2019-0397
URI
https://scholarworks.unist.ac.kr/handle/201301/80244
Fulltext
https://arc.aiaa.org/doi/abs/10.2514/6.2019-0397
Citation
AIAA Scitech Forum, 2019
Abstract
This paper proposes a search and source reconstructing strategy in a decentralized manner using multiple mobile sensors. Each mobile sensor estimates the source location and the release rate using a sequential Monte Carlo method, and decides its own optimal control action based on information theory. Furthermore, all agents negotiate multiple times by exchanging local measurements and decisions to improve their decisions towards a quasi-group decision. This decision making process is called negotiated coordination or cooperation in this paper. Numerical simulations and experiments are conducted to verify the performance of the proposed method. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
Publisher
American Institute of Aeronautics and Astronautics Inc, AIAA

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